fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-05 05:51:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Don't allow tilt alignment if vehicle is moving excessively (#768)

Browse Source 
Also remove unnecessary update of the _accel_lpf after alignment.
This commit is contained in:
Paul Riseborough
2020-03-05 21:42:45 +11:00
committed by GitHub
parent 230c865fa9
commit 8ce285cdfa
2 changed files with 22 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.h
+6 -3
View File
@@ -445,12 +445,15 @@ private:
uint64_t _last_gps_origin_time_us{0}; ///< time the origin was last set (uSec)
float _gps_alt_ref{0.0f}; ///< WGS-84 height (m)
// Variables used to initialise the filter states
// Variables used by the initial filter alignment
bool _is_first_imu_sample{true};
uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation
uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation
AlphaFilterVector3f _mag_lpf; ///< filtered magnetometer measurement for instant reset(Gauss)
AlphaFilterVector3f _accel_lpf; ///< filtered accelerometer measurement for instant reset(Gauss)
AlphaFilterVector3f _accel_lpf; ///< filtered accelerometer measurement used to align tilt (m/s/s)
AlphaFilterVector3f _gyro_lpf; ///< filtered gyro measurement used for alignment excessive movement check (rad/sec)
// Variables used to perform in flight resets and switch between height sources
AlphaFilterVector3f _mag_lpf; ///< filtered magnetometer measurement for instant reset (Gauss)
float _hgt_sensor_offset{0.0f}; ///< set as necessary if desired to maintain the same height after a height reset (m)
float _baro_hgt_offset{0.0f}; ///< baro height reading at the local NED origin (m)